Distributed finite-time control for coordinated circumnavigation with multiple non-holonomic robots

被引：31
|
作者：
Zhang, Chunyan [1 ]
Li, Yinya [1 ]
Qi, Guoqing [1 ]
Sheng, Andong [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
来源：
NONLINEAR DYNAMICS | 2019年 / 98卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Circumnavigation; Non-holonomic robots; Distributed control; Finite-time stability; Backstepping; MOVING-TARGET; STANDOFF TRACKING; CIRCULAR FORMATION; UNKNOWN TARGET; BEARING; STABILITY; LOCALIZATION; SYSTEMS; GUIDANCE; AGENTS;
D O I：
10.1007/s11071-019-05213-0
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The finite-time coordinated circumnavigation problem for multiple non-holonomic robots is investigated in this paper. All robots are required to be evenly circled a target, and orbited around it with prescribed radius and circular velocity. First, a finite-time control law is designed by backstepping rendering each robot to circumnavigate the target. Subsequently, an additional finite-time consensus control protocol is developed for the uniform distribution sub-objective. Finally, the synthesized controller comprising of the aforementioned control law and the consensus control protocol enables all robots to converge to the desired trajectory with equiangular separations in finite time. Numerical simulations illustrate the effectiveness of the proposed method.
引用
收藏
页码：573 / 588
页数：16
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